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Performance during the four terrestrial navigation scenario tasks. (A) Crossing sand terrain: enlarging SNUMAX’s wheels allowed it to overcome a small bump and move on sand terrain. (B) Passing through a small aperture: shrinking SNUMAX’s wheels allowed it to pass through a small aperture. (C) Ascending and descending stairs: enlarging SNUMAX’s wheels allowed it to ascend and descend stairs. (D) Passing between unstable obstacles: the robot was carefully maneuvered between unstable poles without touching them while narrowing the wheels.
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This paper introduces SNUMAX, the grand winner of the RoboSoft Grand Challenge. SNUMAX was built to complete all the tasks of the challenge. Completing these tasks required robotic compliant components that could adapt to variable situations and environments and generate enough stiffness to maintain performance. SNUMAX has three key components: tra...
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Citations
... In 2022, Jin et al. presented a soft pneumatic actuator inspired by Kresling origami, which can twist and shrink via vacuum control [21]. Previous research has concentrated on the use of origami and its applications in the fields of robots [22,23], foldable aircraft [24,25], intelligent electronic components [26][27][28], and so on. In 2014, Hayes et al. presented self-folding origami microstrip antennas; they transformed a conventional microstrip transmission line into a monopole antenna [29]. ...
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... Pesenti et al. [9] used origami shapes to design adaptive shadings in terms of the thermal and visual comfort of a building. Lee et al. [10] designed a soft robot with transformable origami wheels that can adapt to various difficult circumstances and environments as well as provide enough stiffness to keep performance at a high level. Zirbel et al. [11] The Kresling is another type of cylindrical origami pattern, which includes a thin tube configuration. ...
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This paper presents a novel reconfigurable crawling robot based on an origami twisted tower structure. Compared with other origami structures, the twisted tower can achieve extension, contraction, and bending motions as the flexible body parts in robotic designs. The kinematics of a one-layer twisted tower were analyzed with rotation and bending angles. The mechanical properties of the one-layer, two-layer, and four-layer twisted towers were compared with compression experiments. A rope-motor-driven crawling robot was designed to realize forward, backward, left-turning, and right-turning motions. Two types of crawling robot with specific sliding feet were developed to adapt to different ground conditions: one made of rubber, and the other embedded with an electromagnet. The experimental results show that the proposed robots can move at an average forward speed of 0.48 cm/s on a wooden desk, and at 0.52 cm/s forward speed or 0.65 cm/s backward speed on an iron platform.
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... 18,19 The proposed wheel design was adopted to the mobile robot runs on multiple terrains, ''SNU-MAX,'' winner of first RoboSoft Grand Challenge. 20 This article describes an improved version of the robot and provides a comprehensive analysis of the wheel structure. The kinematic model of the wheel structure proposed in the article allows the analysis and optimization of the design parameters. ...
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